Browsing by Subject "Damping"

Now showing 1 - 13 of 13

Open Access
Adaptive control of a spring-mass hopper
(IEEE, 2011) Uyanık, İsmail; Saranlı, Uluç; Morgül, Ömer
Practical realization of model-based dynamic legged behaviors is substantially more challenging than statically stable behaviors due to their heavy dependence on second-order system dynamics. This problem is further aggravated by the difficulty of accurately measuring or estimating dynamic parameters such as spring and damping constants for associated models and the fact that such parameters are prone to change in time due to heavy use and associated material fatigue. In this paper, we present an on-line, model-based adaptive control method for running with a planar spring-mass hopper based on a once-per-step parameter correction scheme. Our method can be used both as a system identification tool to determine possibly time-varying spring and damping constants of a miscalibrated system, or as an adaptive controller that can eliminate steady-state tracking errors through appropriate adjustments on dynamic system parameters. We present systematic simulation studies to show that our method can successfully accomplish both of these tasks. © 2011 IEEE.
Open Access
An analytical solution to the stance dynamics of passive spring-loaded inverted pendulum with damping
(World Scientific, 2009-09) Ankaralı, M. M.; Arslan, Ömür; Saranlı, Uluç
The Spring-Loaded Inverted Pendulum (SLIP) model has been established both as a very accurate descriptive tool as well as a good basis for the design and control of running robots. In particular, approximate analytic solutions to the otherwise non integrable dynamics of t his model provide principled ways in which gait controllers can be built, yielding invaluable insight into their stability properties. However, most existing work on the SLIP model completely disregards the effects of damping, which often cannot be neglected for physical robot platforms. In this paper, we introduce a new approximate analytical solution to the dynamics of this system that also takes into account viscous damping in the leg. We compare both the predictive performance of our approximation as well as the tracking performance of an associated deadbeat gait controller to similar existing methods in the literature and show t hat it significantly outperforms them in the presence of damping in the leg.
Open Access
Approximate analytic solutions to non-symmetric stance trajectories of the passive Spring-Loaded Inverted Pendulum with damping
(Springer Netherlands, 2010) Saranlı U.; Arslan, Ö.; Ankaralı, M. M.; Morgül, Ö.
This paper introduces an accurate yet analytically simple approximation to the stance dynamics of the Spring-Loaded Inverted Pendulum (SLIP) model in the presence of non-negligible damping and non-symmetric stance trajectories. Since the SLIP model has long been established as an accurate descriptive model for running behaviors, its careful analysis is instrumental in the design of successful locomotion controllers. Unfortunately, none of the existing analytic methods in the literature explicitly take damping into account, resulting in degraded predictive accuracy when they are used for dissipative runners. We show that the methods we propose not only yield average predictive errors below 2% in the presence of significant damping, but also outperform existing alternatives to approximate the trajectories of a lossless model. Finally, we exploit both the predictive performance and analytic simplicity of our approximations in the design of a gait-level running controller, demonstrating their practical utility and performance benefits. © 2010 Springer Science+Business Media B.V.
Open Access
Circuit theoretical method for efficient finite element analysis of acoustical problems
(IEEE, 1998) Ekinci, A. Suat; Atalar, Abdullah
In the last decade, there has been an outstanding improvement in the computer aided design tools for VLSI circuits regarding solution times and the circuit complexity. This study proposes formulating the acoustic field analysis problem using FEM, and employing the recent speed-up techniques used in the circuit simulators. In this work, total mass, stiffness and damping matrices are obtained using the FE approach, and piped into a computer program which generates an equivalent SPICE compatible circuit netlist. This approach makes it possible to use the most recent circuit simulation techniques to simulate the acoustical problems. The equivalent electrical circuit is a resistor-inductor-capacitor (RLC) circuit containing controlled sources to handle the couplings. The circuit matrices are 6 times larger but are sparser. We analyze these circuits with a general-purpose circuit simulation program, HSPICE, which provides high accuracy solutions in a short time. We also use an in-house developed circuit simulation program, MAWE, which makes use of asymptotic waveform evaluation (AWE) technique that has been successfully used in circuit simulation for solutions of large sets of equations. The results obtained on several problems, which are solved in time and frequency domains using circuit simulators and the FE analysis program ANSYS, match each other pretty well. Using circuit simulators instead of conventional method improves simulation speed without a significant loss of accuracy.
Open Access
Collective modes in a quasi-one-dimensional, two-component electron liquid
(Pergamon Press, 1994) Tanatar, Bilal
Under favorable conditions, a new collective mode besides the usual plasmons may exist in degenerate electron-hole liquids. We calculate the dispersion and damping of this new mode (called the acoustic plasmon mode) in a quasi-one-dimensional, two-component electron liquid. We carry out our calculations first within the random-phase approximation, then include the effects of local-field corrections using a Hubbard-like approximation. The latter decreases the acoustic plasmon dispersion. © 1994.
Open Access
Disc brake squeal characterization through simplified test rigs
(Elsevier, 2009-11) Akay, A.; Giannini, O.; Massi, F.; Sestieri, A.
This paper presents a review of recent investigations on brake squeal noise carried out on simplified experimental rigs. The common theme of these works is that of approaching the study of squeal noise on experimental set-ups that are much simpler than commercial disc brakes, providing the possibility of repeatable measurements of squeal occurrence. As a consequence, it is possible to build consistent and robust models of the experimental apparatus to simulate the squeal events and to understand the physics behind squeal instabilities. © 2009.
Open Access
Effects of trend strength and direction on performance and consistency in judgmental exchange rate forecasting
(Elsevier, 2013) Thomson, M. E.; Pollock, A. C.; Gönül, M. S.; Önkal D.
Using real financial data, this study examines the influence of trend direction and strength on judgmental exchange rate forecasting performance and consistency. Participants generated forecasts for each of 20 series. Half of the participants also answered two additional questions regarding their perceptions about the strength and direction of the trend present in each of the series under consideration. The performance on ascending trends was found to be superior to that on descending trends, and the performance on intermediate trends was found to be superior to that on strong trends. Furthermore, the group whose attention was drawn to the direction and strength of each trend via the additional questions performed better on some aspects of the task than did their “no-additional questions” counterparts. Consistency was generally poor, with ascending trends being perceived as being stronger than descending trends. The results are discussed in terms of their implications for the use and design of forecasting support systems.
Open Access
Finite size effects in cooperative molecular motors
(Elsevier B.V., 2003) Taneri, S.; Yalabik, M. C.
We have studied the ballistic and damped dynamics of finite size cooperative molecular motors. We study the effect of finite size on average quantities such as sliding velocity, as well as the statistics of fluctuations in these quantities. We observed stalling for the over damped case.
Open Access
Nanomechanics using an ultra-small amplitude AFM
(Cambridge University Press, 2001) Hoffmann, P. M.; Jeffery, S.; Oral, Ahmet; Grimble, R. A.; Özer, H. Özgür; Pethica, J. B.
A new type of AFM is presented which allows for direct measurements of nanomechanical properties in ultra-high vacuum and liquid environments. The AFM is also capable to atomic-scale imaging of force gradients. This is achieved by vibrating a stiff lever at very small amplitudes of less than 1 Å (peak-to-peak) at a sub-resonance amplitude. This linearizes the measurement and makes the interpretation of the data straight-forward. At the atomic scale, interaction force gradients are measured which are consistent with the observation of single atomic bonds. Also, atomic scale damping is observed which rapidly rises with the tip-sample separation. A mechanism is proposed to explain this damping in terms of atomic relaxation in the tip. We also present recent results in water where we were able to measure the mechanical response due to the molecular ordering of water close to an atomically flat surface.
Open Access
On the stabilization and stability robustness against small delays of some damped wave equations
(IEEE, 1995) Morgül, O.
In this note we consider a system which can be modeled by two different one-dimensional damped wave equations in a bounded domain, both parameterized by a nonnegative damping constant. We assume that the system is fixed at one end and is controlled by a boundary controller at the other end. We consider two problems, namely the stabilization and the stability robustness of the closed-loop system against arbitrary small time delays in the feedback loop. We propose a class of dynamic boundary controllers and show that these controllers solve the stabilization problem when the damping coefficient is nonnegative and stability robustness problem when the damping coefficient is strictly positive.
Open Access
Plasmon dispersion and damping in double-layer electron systems
(Elsevier Science Ltd, Exeter, United Kingdom, 2000) Davoudi, B.; Tanatar, Bilal
We use dynamical local-field corrections to study the plasmon dispersion and damping in double-layer electron systems. The wave vector and frequency-dependent local-fields describing the exchange-correlation effects are obtained within the quantum version of self-consistent field approach. The calculated plasmon dispersions are modified by the dynamic local-fields at intermediate wave vectors (i.e. q to approximately kF). The plasmons are damped outside the single-particle excitation region.
Open Access
Simulations of switching vibrating cantilever in atomic force microscopy
(Elsevier, 2003-01-31) Balantekin, M.; Atalar, Abdullah
We analyze the steady state tip sample interaction in atomic force microscopy by using an electrical circuit simulator. The phase shift between the cantilever excitation and tip, and the amplitude versus distance curves are obtained with sample stiffness as a parameter. The height shifts and hysteresis in amplitude and phase curves are observed as a result of the influence of the force between the tip and the sample. The damping and switching mechanisms are explained using the force traces obtained from simulations. The oscillation amplitude dependence of operating mode is inspected. We find that improper selection of the free tip oscillation amplitude is the cause of operating state transitions. (C) 2002 Elsevier Science B.V. All rights reserved.
Open Access
Stabilisation of linear waves with inhomogeneous Neumann boundary conditions
(Taylor & Francis, 2024-10-21) Özsarı, Türker; Susuzlu, İdem
We study linear damped and viscoelastic wave equations evolving on a bounded domain. For both models, we assume that waves are subject to an inhomogeneous Neumann boundary condition on a portion of the domain's boundary. The analysis of these models presents additional interesting features and challenges compared to their homogeneous counterparts. In the present context, energy depends on the boundary trace of velocity. It is not clear in advance how this quantity should be controlled based on the given data, due to regularity issues. However, we establish global existence and also prove uniform stabilisation of solutions with decay rates characterised by the Neumann input. We supplement these results with numerical simulations in which the data do not necessarily satisfy the given assumptions for decay. These simulations provide, at a numerical level, insights into how energy could possibly change in the presence of, for example, improper data.